573 lines
22 KiB
C#
573 lines
22 KiB
C#
using log4net;
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using Mono.Addins;
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using Nini.Config;
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using OpenMetaverse;
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using OpenSim.Region.CoreModules.World.LegacyMap;
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using OpenSim.Region.Framework.Interfaces;
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using OpenSim.Region.Framework.Scenes;
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using OpenSim.Region.ScriptEngine.Interfaces;
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using OpenSim.Region.ScriptEngine.Shared.Api;
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using Roy_T.AStar.Grids;
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using Roy_T.AStar.Paths;
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using Roy_T.AStar.Primitives;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.Reflection;
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using System.Threading;
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using LSL_Float = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLFloat;
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using LSL_Integer = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLInteger;
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using LSL_Key = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
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using LSL_List = OpenSim.Region.ScriptEngine.Shared.LSL_Types.list;
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using LSL_Rotation = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Quaternion;
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using LSL_String = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
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using LSL_Vector = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Vector3;
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[assembly: Addin("BasicPathFindingModule", "0.1")]
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[assembly: AddinDependency("OpenSim.Region.Framework", OpenSim.VersionInfo.VersionNumber)]
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namespace OpenSim.Modules.PathFinding
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{
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[Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "BasicPathFindingModule")]
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public class BasicPathFindingModule : INonSharedRegionModule
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{
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#region Region Module
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private Scene m_scene = null;
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private IConfig m_config = null;
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private bool m_enabled = true;
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private IScriptModuleComms m_scriptModule;
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private List<Environment> m_environments = new List<Environment>();
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public string Name
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{
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get { return "BasicPathFindingModule"; }
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}
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public Type ReplaceableInterface
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{
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get { return null; }
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}
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public void AddRegion(Scene scene)
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{
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}
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public void Close()
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{
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}
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public void Initialise(IConfigSource source)
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{
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try
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{
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m_config = source.Configs["XEngine"];
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if (m_config != null)
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{
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m_enabled = m_config.GetBoolean("EnablePathFinding", m_enabled);
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}
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else
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{
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m_log.Error("[" + Name + "]: Cant find config.");
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}
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}
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catch (Exception e)
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{
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m_log.ErrorFormat("[" + Name + "]: initialization error: {0}", e.Message);
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return;
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}
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if (m_enabled)
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{
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m_log.Info("[" + Name + "]: module is enabled");
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}
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else
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{
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m_log.Info("[" + Name + "]: module is disabled");
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}
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}
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public void RegionLoaded(Scene scene)
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{
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if (m_enabled)
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{
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m_log.Info("[" + Name + "]: Load region " + scene.Name);
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m_scene = scene;
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m_scriptModule = m_scene.RequestModuleInterface<IScriptModuleComms>();
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if (m_scriptModule == null)
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{
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m_log.ErrorFormat("[" + Name + "]: Failed to load IScriptModuleComms!");
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m_enabled = false;
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return;
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}
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try
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{
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m_scriptModule.RegisterScriptInvocation(this, "osGeneratePathEnv");
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m_scriptModule.RegisterScriptInvocation(this, "osKeepAlivePathEnv");
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m_scriptModule.RegisterScriptInvocation(this, "osSetPathPositionData");
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m_scriptModule.RegisterScriptInvocation(this, "osSetPathLineData");
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m_scriptModule.RegisterScriptInvocation(this, "osGeneratePath");
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m_scriptModule.RegisterScriptInvocation(this, "osGetSearchableObjectList");
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m_scriptModule.RegisterScriptInvocation(this, "osGenerateDebugImage");
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m_scriptModule.RegisterConstant("PATH_ENV_SUCCESSFUL", 19850);
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m_scriptModule.RegisterConstant("PATH_ENV_ERR_NOT_FOUND", 19851);
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m_scriptModule.RegisterConstant("PATH_ENV_ERR_OUT_OF_RANGE", 19852);
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m_scriptModule.RegisterConstant("PATH_ENV_ERR_NOT_IN_LINE", 19853);
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m_scriptModule.RegisterConstant("PATH_ENV_ERR_START_OR_END_UNKNOWN", 19854);
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m_scriptModule.RegisterConstant("PATH_ENV_ERR_TARGET_NOT_CONNECTED", 19855);
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m_scriptModule.RegisterConstant("PATH_ENV_ERR_UNKNOWN", 19860);
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}
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catch (Exception e)
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{
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m_log.WarnFormat("[" + Name + "]: script method registration failed; {0}", e.Message);
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m_enabled = false;
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}
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m_log.Info("[" + Name + "]: Region loading done!");
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}
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}
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public void RemoveRegion(Scene scene)
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{
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}
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#endregion
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#region Asyn Funktions
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private void generatePathEnvironment(ScriptRequestData requestData)
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{
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lock(m_environments)
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{
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try
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{
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UUID _envID = UUID.Random();
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Environment _newEnv = new Environment(_envID.ToString(), (int)m_scene.RegionInfo.RegionSizeX);
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m_environments.Add(_newEnv);
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m_scriptModule.DispatchReply(requestData.ScriptID, 19850, _envID.ToString(), requestData.RequestID.ToString());
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}
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catch (Exception _error)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
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}
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}
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}
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private void keepAlivePathEnv(ScriptRequestData requestData)
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{
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lock (m_environments)
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{
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try
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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_env.LastTimeUsed = (Int32)(DateTime.UtcNow.Subtract(new DateTime(1970, 1, 1))).TotalSeconds;
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m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
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return;
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}
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m_scriptModule.DispatchReply(requestData.ScriptID, 19851, "", requestData.RequestID.ToString());
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}
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catch (Exception _error)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
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}
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}
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}
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private void removeAllTargets(ScriptRequestData requestData)
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{
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lock(m_environments)
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{
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try
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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List<PathNode> _nodes = _env.Nodes.FindAll(X => X.Target == true);
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foreach (PathNode thisNode in _nodes)
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{
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thisNode.Target = false;
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}
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}
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}
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catch (Exception _error)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
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}
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}
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}
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private void removeAllStarts(ScriptRequestData requestData)
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{
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lock (m_environments)
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{
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try
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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List<PathNode> _nodes = _env.Nodes.FindAll(X => X.Start == true);
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foreach (PathNode thisNode in _nodes)
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{
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thisNode.Start = false;
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}
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}
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}
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catch (Exception _error)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
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}
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}
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}
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private void setPositionData(ScriptRequestData requestData, Vector3 position, int walkable, int isTarget, int isStart)
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{
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lock(m_environments)
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{
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try
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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if (isTarget == 1)
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removeAllTargets(requestData);
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if (isStart == 1)
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removeAllStarts(requestData);
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PathNode _node = _env.Nodes.Find(X => X.PositionX == (int)position.X && X.PositionY == (int)position.Y);
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if (_node == null)
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{
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_node = new PathNode((int)position.X, (int)position.Y, false, false, false);
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_env.Nodes.Add(_node);
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}
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if (walkable == 1)
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_node.Walkable = true;
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if (walkable == 0)
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_node.Walkable = false;
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if (isTarget == 1)
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_node.Target = true;
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if (isTarget == 0)
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_node.Target = false;
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if (isStart == 1)
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_node.Start = true;
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if (isStart == 0)
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_node.Start = false;
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return;
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}
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m_scriptModule.DispatchReply(requestData.ScriptID, 19851, "", requestData.RequestID.ToString());
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}
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catch (Exception _error)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
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}
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}
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}
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private void setLineData(ScriptRequestData requestData, Vector3 start, Vector3 target, int walkable)
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{
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lock(m_environments)
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{
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try
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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if ((int)start.X == (int)target.X || (int)start.Y == (int)target.Y)
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{
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if ((int)start.X == (int)target.X && (int)start.Y == (int)target.Y)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
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return;
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}
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Vector3 _PointA = new Vector3(0, 0, 0);
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Vector3 _PointB = new Vector3(0, 0, 0);
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if ((int)start.X != (int)target.X)
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{
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if ((int)start.X < (int)target.X)
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{
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_PointA = start;
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_PointB = target;
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}
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if ((int)start.X > (int)target.X)
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{
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_PointA = target;
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_PointB = start;
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}
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while ((int)_PointA.X <= (int)_PointB.X)
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{
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setPositionData(requestData, _PointA, walkable, 0, 0);
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_PointA.X = (int)_PointA.X + 1;
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}
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}
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if ((int)start.Y != (int)target.Y)
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{
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if ((int)start.Y < (int)target.Y)
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{
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_PointA = start;
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_PointB = target;
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}
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if ((int)start.Y > (int)target.Y)
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{
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_PointA = target;
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_PointB = start;
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}
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while ((int)_PointA.Y <= (int)_PointB.Y)
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{
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setPositionData(requestData, _PointA, walkable, 0, 0);
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_PointA.Y = (int)_PointA.Y + 1;
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}
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}
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m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
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return;
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}
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else
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19853, "", requestData.RequestID.ToString());
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}
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}
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else
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19851, "", requestData.RequestID.ToString());
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}
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}
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catch (Exception _error)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
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}
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}
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}
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private PathNode getStartNode(ScriptRequestData requestData)
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{
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lock (m_environments)
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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PathNode _startNode = _env.Nodes.Find(X => X.Start == true);
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return _startNode;
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}
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}
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return null;
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}
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private PathNode getTargetNode(ScriptRequestData requestData)
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{
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lock (m_environments)
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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PathNode _startNode = _env.Nodes.Find(X => X.Target == true);
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return _startNode;
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}
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}
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return null;
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}
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private void generatePath(ScriptRequestData requestData)
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{
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lock (m_environments)
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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PathNode _startNode = getStartNode(requestData);
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PathNode _targetNode = getTargetNode(requestData);
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if(_startNode != null && _targetNode != null)
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{
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GridSize _pathFindingGridSize = new GridSize(_env.Size, _env.Size);
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Roy_T.AStar.Primitives.Size _pathFindingCellSize = new Roy_T.AStar.Primitives.Size(Distance.FromMeters(1), Distance.FromMeters(1));
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Velocity _pathFindingVelocity = Velocity.FromKilometersPerHour(11.5f);
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Grid _pathFindingGrid = Grid.CreateGridWithLateralAndDiagonalConnections(_pathFindingGridSize, _pathFindingCellSize, _pathFindingVelocity);
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PathFinder pathFinder = new PathFinder();
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Path _pathFindingPath = pathFinder.FindPath(new GridPosition(_startNode.PositionX, _startNode.PositionY), new GridPosition(_targetNode.PositionX, _targetNode.PositionY), _pathFindingGrid);
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if(_pathFindingPath.Type == PathType.Complete)
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{
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String _pathString = "";
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foreach(var _thisEdge in _pathFindingPath.Edges)
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_pathString += "<" + _thisEdge.End.Position.X + ", " + _thisEdge.End.Position.Y + ", 0>;";
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m_scriptModule.DispatchReply(requestData.ScriptID, 19850, _pathString, requestData.RequestID.ToString());
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}
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else
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19855, "", requestData.RequestID.ToString());
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}
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}
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else
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19854, "", requestData.RequestID.ToString());
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}
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}
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}
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private void generateDebugImage(ScriptRequestData requestData)
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{
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lock(m_environments)
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{
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try
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{
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Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
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if (_env != null)
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{
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Bitmap _bitmap = new Bitmap(_env.Size, _env.Size);
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foreach (PathNode thisNode in _env.Nodes)
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{
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if (thisNode.Walkable)
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_bitmap.SetPixel(thisNode.PositionX, thisNode.PositionY, Color.Green);
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if (!thisNode.Walkable)
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_bitmap.SetPixel(thisNode.PositionX, thisNode.PositionY, Color.Black);
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if (thisNode.Target)
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_bitmap.SetPixel(thisNode.PositionX, thisNode.PositionY, Color.Blue);
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}
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_bitmap.Save(requestData.EnvironmentID + ".png");
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m_scriptModule.DispatchReply(requestData.ScriptID, 19850, requestData.EnvironmentID + ".png", requestData.RequestID.ToString());
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return;
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}
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m_scriptModule.DispatchReply(requestData.ScriptID, 19851, "", requestData.RequestID.ToString());
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}
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catch (Exception _error)
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{
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m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
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}
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}
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}
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#endregion
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#region Script Funktions
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[ScriptInvocation]
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public string osGeneratePathEnv(UUID hostID, UUID scriptID)
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{
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UUID requestKey = UUID.Random();
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SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
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(new Thread(delegate () { generatePathEnvironment(new ScriptRequestData(hostID, scriptID, null, requestKey)); })).Start();
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return requestKey.ToString();
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}
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[ScriptInvocation]
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public string osKeepAlivePathEnv(UUID hostID, UUID scriptID, String environmentID)
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{
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UUID requestKey = UUID.Random();
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SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
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(new Thread(delegate () { keepAlivePathEnv(new ScriptRequestData(hostID, scriptID, environmentID, requestKey)); })).Start();
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return requestKey.ToString();
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}
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[ScriptInvocation]
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public void osSetPathPositionData(UUID hostID, UUID scriptID, String environmentID, Vector3 position, int walkable, int isTarget, int isStart)
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{
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SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
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(new Thread(delegate () { setPositionData(new ScriptRequestData(hostID, scriptID, environmentID), position, walkable, isTarget, isStart); })).Start();
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}
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[ScriptInvocation]
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public void osSetPathLineData(UUID hostID, UUID scriptID, String environmentID, Vector3 start, Vector3 target, int walkable)
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{
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SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
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(new Thread(delegate () { setLineData(new ScriptRequestData(hostID, scriptID, environmentID), start, target, walkable); })).Start();
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}
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[ScriptInvocation]
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public string osGeneratePath(UUID hostID, UUID scriptID, String environmentID)
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{
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UUID requestKey = UUID.Random();
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SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
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(new Thread(delegate () { generatePath(new ScriptRequestData(hostID, scriptID, environmentID, requestKey)); })).Start();
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|
|
|
return requestKey.ToString();
|
|
}
|
|
|
|
[ScriptInvocation]
|
|
public string osGenerateDebugImage(UUID hostID, UUID scriptID, String environmentID)
|
|
{
|
|
UUID requestKey = UUID.Random();
|
|
|
|
SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
|
|
(new Thread(delegate () { generateDebugImage(new ScriptRequestData(hostID, scriptID, environmentID, requestKey)); })).Start();
|
|
|
|
return requestKey.ToString();
|
|
}
|
|
|
|
[ScriptInvocation]
|
|
public object[] osGetSearchableObjectList(UUID hostID, UUID scriptID, String searchString)
|
|
{
|
|
List<object> returnList = new List<object>();
|
|
|
|
foreach (SceneObjectGroup thisGroup in m_scene.GetSceneObjectGroups())
|
|
{
|
|
if(thisGroup.Name == searchString)
|
|
returnList.Add(thisGroup.UUID);
|
|
}
|
|
|
|
return returnList.ToArray();
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
}
|
|
}
|